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| Rev 2402 | Rev 2404 | ||
|---|---|---|---|
| Line 1619... | Line 1619... | ||
| 1619 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
1619 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
| 1620 | FromNC_AltitudeSetpoint = -20000; |
1620 | FromNC_AltitudeSetpoint = -20000; |
| 1621 | } |
1621 | } |
| 1622 | #endif |
1622 | #endif |
| 1623 | //DebugOut.Analog[16] = StickGasMiddle; |
1623 | //DebugOut.Analog[16] = StickGasMiddle; |
| - | 1624 | if(BytegapSPI == 0) SPI_TransmitByte(); |
|
| - | 1625 | ||
| 1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1625 | // Höhenregelung |
1627 | // Höhenregelung |
| 1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1627 | GasMischanteil *= STICK_GAIN; |
1629 | GasMischanteil *= STICK_GAIN; |
| 1628 | - | ||
| 1629 | // if height control is activated |
1630 | // if height control is activated |
| 1630 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1631 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
| 1631 | { |
1632 | { |
| 1632 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1633 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1633 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1634 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| Line 2164... | Line 2165... | ||
| 2164 | 2165 | ||
| 2165 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
2166 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 2166 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
2167 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| Line -... | Line 2168... | ||
| - | 2168 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
|
| - | 2169 | ||
| 2167 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
2170 | if(BytegapSPI == 0) SPI_TransmitByte(); |
| 2168 | 2171 | ||
| 2169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2172 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2170 | // Universal Mixer |
2173 | // Universal Mixer |
| 2171 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |